DEVICE ANINP2
0.1 Introduction
- The device manage the reading and processing of an analog input.
- The read data is a word to signed 16-bit which you can add an offset, enter a scaling factor and activate a low-pass RC filter type software.
- Input resolution specifications are listed in the file adapter of the card.
- The outputs can be programmed to perform comparisons on analogue input
0.2 Installation
Device declaration in the configuration unit.
In the configuration unit, the BUS section must be declared so that they are
present the hardware resources required for the implementation of the ANINP2 device. Must be at least one analog input with 16-bit resolution.
In the INTDEVICE section of the configuration unit must be to add the following definition:
;--------------------------------- ; Devices Declaration ;--------------------------------- INTDEVICE ... <device name> ANINP2 Tcamp IChn Type Out1 Out2
where:
| <device name> | The name assigned to the device |
| ANINP2 | Keyword that identifies the device analog input |
| Tcamp | Time sampling device (1÷255 ms) |
| IChn | Address ADC input |
| Type | ID number input type (refer to technical data sheet hardware) |
| Out1 | 1 Output Address of comparison (to prevent the device uses this resource to put the X.X character) |
| Out2 | 2 Output Address of comparison (to prevent the device uses this resource to put the X.X character) |
0.3 Example
;--------------------------------- ; Device declaration ;--------------------------------- INTDEVICE Axis_X ANINP2 2 2.AI01 1 2.OUT01 2.OUT02
0.4 Operation
When the system is powered, the device checks the correct input type declaration to use defined in configuration (Type) unit.
If the channel diagnostics ends successfully, data is upgraded on the basis of sampling time. If errors or inaccuracies are found, the
st_errcfg state is set to one and the value of the outbit variable is forced to zero.
The conversion of the data output from the (outbit) device, in the unit of measure required by your application,
is performed using scale factors (scaleA, scaleB e scaleC) according to the formula:
outUm = (scaleA x outbit / scaleB) + scaleC
In addition to this updated release based on the sample time of the device, is available the outUmF output, filtered using a programmable charge time (in ms).
 | This feature allows you to filter any interferences and fluctuations superimposed to the wanted signal, with the ability to customize the charging time of the filter (tfilter). |
|---|
0.4.1 Outputs management
The device he can handle analog input mediated comparisons (outUmF)
and change the status of the programmable outputs in one shot mode (single activation).
Each output can be handled in the following ways:
 | Activating setpoint is exceeded by the input that increases |
 | Disable setpoint is exceeded by the input that increases |
 | Activating setpoint is exceeded by the input which decrements |
 | Disable setpoint is exceeded by the input which decrements |
 | Activating setpoint is exceeded by the input that is incremented and disable setpoint is exceeded by the input which decrements |
 | Disable setpoint is exceeded by the input that is incremented and activating setpoint is exceeded by the input which decrements |
0.4.2 Hysteresis
The device can manage the output comparisons with interests.
Whenever the device varies the State of an output, the input is disabled until the comparison does not deviate from the setpoint hysteresis value.
Specifically the comparison is rearm when the entrance takes on the values listed in the examples following:
| Mode = 1 | outUmF = setpoint - hysteresis |
| Mode = 2 | outUmF = setpoint - hysteresis |
| Mode = 3 | outUmF = setpoint + hysteresis |
| Mode = 4 | outUmF = setpoint + hysteresis |
If you are using the 5 snd 6 modes, the output will behave as follows:
| Activation | Deactivation | |
| Mode = 5 | outUmF = setpoint | outUmF = setpoint - hysteresis |
| Mode = 6 | outUmF = setpoint - hysteresis | outUmF = setpoint |
0.5 Device Error Management
A bug in the device is signaled by the st_error state.
When st_error is equal to 1, we find the errcode variable for the error type
(see the table) and the errvalue variable for the indication on the cause of the error
| Code | Priority | Description |
|---|---|---|
| - | - | - |
If the device goes in error, in order to start the work you must to clear the st_error status through the RSERR command.
0.6 Warning Device Management
A warning in the camming system is reported by the st_warning state.
Being caused by a minor event and being guaranteed in this situation, the management of the slave axis, the slave axis continues his work.
When st_warning variable is 1, are present on the wrncode variable the warning type
(see the table) and in the wrnvalue variable an indication as to the cause that produced the warning.
| Code | Priority | Description |
|---|---|---|
| 1 | 0 | Command not executed |
To clear the st_warning status must send the RSWRN command.
0.7 Commands and parameters table
0.7.1 Symbols used
The name of the paramenter, state or command are carry to the left side of the table.
R
Indicates if the related parameter or stare is ritentive (upon initialization of the device maintains the previously defined), or is the State that bears upon initialization of the device.
If the device does not need to initialize the 'R' field indicates the value that the parameter assume on the turning on the card.
R = Ritentive
0 = At the initialization moment of the device the value is forced to zero.
1 = At the initialization moment of the device the value is forced to one.
- = At the initialization moment of the device significant value is displayed.
D
Indicates the size of the parameter.
F = Flag
B = Byte
W = Word
L = Long
S = Single Float
0.7.1.1 Conditions
Describes all of the conditions that is considered correct or because the command is accepted.
In some cases, limit values are specified for the acceptance of the parameter: If any values outside the limits set, the data will still be accepted; therefore appropriate controls of the application must be provided to ensure proper operation.
To run a command, all the conditions required to be met; otherwise the command does not run.
A
Indicates the access mode.
R = Read (read).
W = Write (write).
RW = Read / Write.
0.7.2 Parameters
| Name | D | R | A | Conditions | Description |
|---|---|---|---|---|---|
| outbit | W | - | R | None | Output measure in bits Value read by the input channel offset even. Valid Range: 0 ÷ 32767 |
| offset | W | R | RW | None | Offset compensation DAC output offset in bit. Defines the value in bits of the correction on the analog input in order to compensate for any drift in the system. Valid Range: -32768 ÷ 32767 |
| scaleA | W | R | RW | None | A Scale\\A integer parameter scaling formula. Valid Range: -32768 ÷ 32767 |
| scaleB | W | R | RW | None | B Scale\\B parameter value used in the scaling formula. Must be nonzero. Valid Range: -32768 ÷ 32767 |
| scaleC | W | R | RW | None | C Scale\\C parameter value used in the scaling formula. Valid Range: -32768 ÷ 32767 |
| outUm | L | - | R | None | Output measure in unity Derived exit from scaling formula. Valid Range: -32768 ÷ 32767 |
| tfilter | W | R | RW | None | Filter time Charging time of RC filter. If tfilter < = Tcamp device, the filter is disable. Value expressed in ms. Valid Range: 0 ÷ 32767 |
| outUmF | L | - | R | None | Filtered output in unity of measure Output in units, filtered. Valid Range: -32768 ÷ 32767 |
| hysteresis | L | R | RW | None | Comparation hysteresis Hysteresis of comparisons for outputs managing. See the dedicated chapter. Valid Range: -32768 ÷ 32767 |
| mode1 | B | R | R-W | None | Function mode 1 Defines the comparison type to be performed on the output shown in the selout1 parameter. 0 = The output remains in the state it is 1 = Passage activation to the setpoint to the input that increase 2 = Passage deactivation to the setpoint with the count that increases 3 = Passage activation for the setpoint with the input that it decrements 4 = Passage disabling for the setpoint with the input that it decrements 5 = Passage activation for the setpoint with the input that is incremented and passage deactivating with the setpoint to the input that it decrements 6 = Passage disabling for the setpoint with the input that is incremented and passage activation with the setpoint to the input that it decrements Valid Range: 0 ÷ 6. |
| selout1 | B | R | R-W | None | Output selection1 Indicates the first output where the action of the first comparison 0 = Out1 1 = Out2 Valid Range: 0 ÷ 1. |
| setpoint1 | L | R | R-W | None | Set point 1 Defines the set point of comparison to be performed on the output shown in the parameter selout1. Valild Range: -999999 ÷ 999999. |
| timer1 | W | R | R-W | None | Timer 1 Defines the timer to be running on the output shown in the parameter selout1. Valid Range: 0 ÷ 32767. |
| mode2 | B | R | R-W | None | Function mode 2 Defines the comparison type to be performed on the output shown in the selout2 parameter. 0 = The output remains in the State where is 1 = Passage activation for the setpoint to the input that you increase 2 = Passage deactivation in step for the setpoint to the input that you increase 3 = Passage activation for the setpoint to the input that it decrements 4 = Passage disabling for the setpoint with the admission that it decrements 5 = Passage activation for the setpoint with the input that is incremented and passage deactivating for the setpoint with the input that it decrements 6 = Passage disabling for the setpoint with the input that is incremented and passage activation for the setpoint with counting that decrements Valid Range: 0 ÷ 6. |
| selout2 | B | R | R-W | None | Output selection2 Indicates the output where the action runs the second comparison 0 = Out1 1 = Out2 Valid Range: 0 ÷ 1. |
| setpoint2 | L | R | R-W | None | Set point 2 Defines the set point comparison to be performed on the output shown in the selout2 parameter. Valid Range: -999999 ÷ 999999. |
| timer2 | W | R | R-W | None | Timer 2 Defines the timer to be running on the output shown in the selout2 parameter. Valid Range: 0 ÷ 32767. |
0.7.3 Stati
| NOME | D | R | A | Condizioni | Descrizione |
|---|---|---|---|---|---|
| st_errcfg | F | - | R | Nessuna | Configuration error Segnala che è stato rilevato un errore nella configurazione dell'ingresso. 0 = Non è stato rilevato nessun errore. 1 = È stato rilevato un errore. |
| st_cmp1 | F | 0 | R | Nessuna | Status of first comparation Segnalazione di comparazione 1. 0 = Comparazione 1 disattiva. 1 = Comparazione 1 attiva. All'accensione per default viene posto a zero. |
| st_cmp2 | F | 0 | R | Nessuna | Status of second comparation Segnalazione di comparazione 2. 0 = Comparazione 2 disattiva. 1 = Comparazione 2 attiva. All'accensione per default viene posto a zero. |
| st_error | F | 0 | R | Nessuna | Status of device error Indica lo stato di errore nel device. Per la decodifica dell'errore si deve fare riferimento alla variabile errcode ed errvalue. 0 = Errore non presente. 1 = Errore presente. All'accensione per default viene posto a zero. |
| st_warning | F | 0 | R | Nessuna | Status of device warnin Indica lo stato di warning nel device. Per la decodifica del warning si deve fare riferimento alla variabile wrncode e wrnvalue. 0 = Warning non presente. 1 = Warning presente All'accensione per default viene posto a zero. |
0.7.4 Comandi
I comandi sono stati ordinati con priorità decrescente. Ad esempio, in caso di contemporaneità dei comandi SETCMP1 ed RESCMP1, viene acquisito per primo il comando SETCMP1.
| Nome | Descrizione | Descrizione |
|---|---|---|
| SETCMP1 | Nessuna | Set of comparation 1 Attiva lo stato st_cmp1. |
| RESCMP1 | Nessuna | Reset of comparation 1 Azzera lo stato st_cmp1. |
| SETCMP2 | Nessuna | Set of comparation 2 Attiva lo stato st_cmp2. |
| RESCMP2 | Nessuna | Reset of comparation 2 Azzera lo stato st_cmp2. |
| RSERR | Nessuna | Reset error Azzera lo stato st_error. |
| RSWRN | Nessuna | Reset warning Azzera lo stato st_warning. |
0.8 Limitazioni
0.8.1 Scaling
ScaleB deve essere impostato diverso da zero, in caso contrario OutUm viene forzato a 0.
0.8.2 Filtro
Il tempo di carica del filtro RC tfilter deve essere impostato maggiore o uguale al tempo di campionamento del device (Tcamp), in caso contrario viene disattivato il filtro ed il parametro OutUmF viene aggiornata con lo stesso valore di OutUm.
0.8.3 Offset
Il parametro offset viene sommato allingresso analogico acquisito (outbit), non viene eseguito il controllo sulloverflow della somma.
0.8.4 Configurazione
Nel caso che un singolo canale venga gestito da più device ANINP aventi Type diversi, il compilatore non rileva errori e il canale viene impostato con lultimo Type dichiarato.
Una singola risorsa hardware (ogni singolo ingresso) può essere gestita da più device ANINP contemporaneamente, a condizione che il numero identificativo dellingresso (Type), inserito nella dichiarazione del device (file di configurazione), sia uguale; in caso contrario lingresso analogico viene configurato come lultimo device dichiarato nel file di configurazione.
0.9 Esempio applicativo
0.9.1 Unit di configurazione
;************************************************************************************* ; Nome Modulo: Ex_Aninp2.CNF Progetto: Ex_ANINP2 ; Autore: QEM srl Data : 01/05/99 ; Sistema: QMove1 / QCL3 Libreria: 1LIB4001 ; Funzionalità: Esempio gestione ANINP2 Release: 0 ;------------------------------------- Note ------------------------------------------ ; [1] - Applicativo di esempio per utilizzo device ANINP2 ;************************************************************************************* ;------------------------------------------------------------------------------------- ; Definizione Costanti ;------------------------------------------------------------------------------------- CONST ;------------------------------------------------------------------------------------- ; Definizione Variabili SYSTEM ;------------------------------------------------------------------------------------- SYSTEM slSet1 L ;Setpoint 1 slSet2 L ;Setpoint 2 ;------------------------------------------------------------------------------------- ; Definizione Variabili GLOBAL ;------------------------------------------------------------------------------------- GLOBAL ;------------------------------------------------------------------------------------- ; Definizione Variabili TIMER ;------------------------------------------------------------------------------------- TIMER ;------------------------------------------------------------------------------------- ; Definizione DATAGROUP ;------------------------------------------------------------------------------------- DATAGROUP ;------------------------------------------------------------------------------------- ; Configurazione Bus ;------------------------------------------------------------------------------------- BUS 1 1CPUD 01 2 1AI8B 00 3 1MIXA 00 4 . ;------------------------------------------------------------------------------------- ; Definizione Variabili INPUT ;------------------------------------------------------------------------------------- INPUT ifAbilComp F 3.INP01 ;Abilitazione comparazioni ;------------------------------------------------------------------------------------- ; Definizione Variabili OUTPUT ;------------------------------------------------------------------------------------- OUTPUT out301 F 3.OUT01 ;Segnalazione setpoint 1 out302 F 3.OUT02 ;Segnalazione setpoint 2 ;------------------------------------------------------------------------------------- ; Dichiarazione device interni ;------------------------------------------------------------------------------------- INTDEVICE ;Nome Tipo TCamp Contatore Type Asse ANINP 0004 2.AI01 2 3.OUT01 3.OUT02 END
0.9.2 Gestione ANINP2
;*************************************************************************************
; Nome File: TASK_00.MOD
; Progetto: EX_ANINP2
; Descrizione: Gestione Posizionamento
;*************************************************************************************
;-------------------------------------------------------------------------------------
; Operazioni di Inizializzazione Asse
;-------------------------------------------------------------------------------------
Asse:offset = 0 ;Tensione di offset
;-------------------------------------------------------------------------------------
; Fattore di scala: (scaleA * outbit / scaleB) + scaleC
; outUm minima = (4 * 0 / 8 ) + 3 = 3
; outUm massima = (4 * 4095 / 8) + 3 = 2050
;-------------------------------------------------------------------------------------
Asse: scaleA = 4 ;Fattore di scala A
Asse: scaleB = 8 ;Fattore di scala B
Asse: scaleC = 3 ;Fattore di scala C
Asse: tfilter = 10 ;Tempo del filtro di acquisizione
Asse: hysteresis = 0 ;Isteresi delluscita
IF slSet1 EQ 0
sl Set1 = 1500
ENDIF
IF slSet2 EQ 0
sl Set2 = 300
ENDIF
MAIN:
;-------------------------------------------------------------------------------------
; Comparazioni sul conteggio solo se ifAbilComp attivo, altrimenti le uscite
; sono disattive
; ----------------------------- variabili utilizzate --------------------------------
; slSet1: Quota di comparazione per uscita 2.OUT01
; slSet1: Quota di comparazione per uscita 2.OUT02
;-------------------------------------------------------------------------------------
IF ifAbilComp
IF NOT gfApp01
Asse: mode1 = 5 ;Attiva out1 se posit>setpoint1
Asse: selout1 = 0 ;e disattiva out1 se posit<setpoint1
Asse: setpoint1 = slSet1
Asse: timer1 = 0
Asse: mode2 = 6 ;Disattiva out2 se posit<setpoint2
Asse: selout2 = 1 ;e attiva out2 se posit<setpoint2
Asse: setpoint2 = slSet2
Asse: timer2 = 0
gfApp01 = 1
gfApp02 = 0
ENDIF
ELSE
IF NOT gfApp02
Asse:mode1 = 0
RESOUT out201 ;Disattiva out1
Asse: selout1 = 0
Asse: mode2 = 0
RESOUT out202 ;Disattiva out2
Asse: selout2 = 1
gfApp01 = 0
gfApp02 = 1
ENDIF
ENDIF
;-------------------------------------------------------------------------------------
; Operazioni finali
;-------------------------------------------------------------------------------------
WAIT 1
JUMP MAIN
END